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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">blmc_drivers::LegInterface Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>This class defines an interface to control a leg.  
 <a href="classblmc__drivers_1_1LegInterface.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="leg_8hpp_source.html">leg.hpp</a>&gt;</code></p>
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Inheritance diagram for blmc_drivers::LegInterface:</div>
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<area shape="rect" id="node3" href="classblmc__drivers_1_1Leg.html" title="The leg class is the implementation of the LegInterface. " alt="" coords="41,155,166,181"/>
<area shape="rect" id="node2" href="classblmc__drivers_1_1DeviceInterface.html" title="this class exists purely for logical reasons, it does not in itself implement anything. " alt="" coords="5,5,201,32"/>
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Collaboration diagram for blmc_drivers::LegInterface:</div>
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<area shape="rect" id="node2" href="classblmc__drivers_1_1DeviceInterface.html" title="this class exists purely for logical reasons, it does not in itself implement anything. " alt="" coords="5,5,201,32"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a9335cf8bf2595f70716159927d927346"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9335cf8bf2595f70716159927d927346"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#a9335cf8bf2595f70716159927d927346">MotorMeasurementIndexing</a> { <br />
&#160;&#160;<b>current</b>, 
<b>position</b>, 
<b>velocity</b>, 
<b>encoder_index</b>, 
<br />
&#160;&#160;<b>motor_measurement_count</b>
<br />
 }<tr class="memdesc:a9335cf8bf2595f70716159927d927346"><td class="mdescLeft">&#160;</td><td class="mdescRight">MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an understandable way in the code. <br /></td></tr>
</td></tr>
<tr class="separator:a9335cf8bf2595f70716159927d927346"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a11567617debfdb731ac06e2938712c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a11567617debfdb731ac06e2938712c"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#a2a11567617debfdb731ac06e2938712c">MotorIndexing</a> { <b>hip</b>, 
<b>knee</b>, 
<b>motor_count</b>
 }<tr class="memdesc:a2a11567617debfdb731ac06e2938712c"><td class="mdescLeft">&#160;</td><td class="mdescRight">This enum list the motors in the leg. <br /></td></tr>
</td></tr>
<tr class="separator:a2a11567617debfdb731ac06e2938712c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57a35b64a76fb4225637828d1b1c35a6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a57a35b64a76fb4225637828d1b1c35a6"></a>
typedef real_time_tools::ThreadsafeTimeseries&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a></td></tr>
<tr class="memdesc:a57a35b64a76fb4225637828d1b1c35a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">ScalarTimeseries is a simple shortcut for more intelligible code. <br /></td></tr>
<tr class="separator:a57a35b64a76fb4225637828d1b1c35a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5af9e6514abff5ee918813925a8e42d"><td class="memTemplParams" colspan="2">template&lt;typename Type &gt; </td></tr>
<tr class="memitem:ac5af9e6514abff5ee918813925a8e42d"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a> = std::shared_ptr&lt; Type &gt;</td></tr>
<tr class="memdesc:ac5af9e6514abff5ee918813925a8e42d"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is a shortcut for creating shared pointer in a simpler writting expression.  <a href="#ac5af9e6514abff5ee918813925a8e42d">More...</a><br /></td></tr>
<tr class="separator:ac5af9e6514abff5ee918813925a8e42d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:afe46102b0ce1c790e921d71f86868066"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afe46102b0ce1c790e921d71f86868066"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#afe46102b0ce1c790e921d71f86868066">~LegInterface</a> ()</td></tr>
<tr class="memdesc:afe46102b0ce1c790e921d71f86868066"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destroy the <a class="el" href="classblmc__drivers_1_1LegInterface.html" title="This class defines an interface to control a leg. ">LegInterface</a> object. <br /></td></tr>
<tr class="separator:afe46102b0ce1c790e921d71f86868066"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae653c7ee0ab7aa9d16a6bfce01580200"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#ae653c7ee0ab7aa9d16a6bfce01580200">get_motor_measurement</a> (const int &amp;motor_index, const int &amp;measurement_index) const =0</td></tr>
<tr class="memdesc:ae653c7ee0ab7aa9d16a6bfce01580200"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getters.  <a href="#ae653c7ee0ab7aa9d16a6bfce01580200">More...</a><br /></td></tr>
<tr class="separator:ae653c7ee0ab7aa9d16a6bfce01580200"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a44bac5c9a6015f0e08370b3bc9957512"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#a44bac5c9a6015f0e08370b3bc9957512">get_current_target</a> (const int &amp;motor_index) const =0</td></tr>
<tr class="memdesc:a44bac5c9a6015f0e08370b3bc9957512"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the actual target current.  <a href="#a44bac5c9a6015f0e08370b3bc9957512">More...</a><br /></td></tr>
<tr class="separator:a44bac5c9a6015f0e08370b3bc9957512"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab724283c8eeadca0e7b8829de64f4f44"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#ab724283c8eeadca0e7b8829de64f4f44">get_sent_current_target</a> (const int &amp;motor_index) const =0</td></tr>
<tr class="memdesc:ab724283c8eeadca0e7b8829de64f4f44"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the last sent target current.  <a href="#ab724283c8eeadca0e7b8829de64f4f44">More...</a><br /></td></tr>
<tr class="separator:ab724283c8eeadca0e7b8829de64f4f44"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6917a158f12589c9ee6aa45304fdafce"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#a6917a158f12589c9ee6aa45304fdafce">set_current_target</a> (const double &amp;current_target, const int &amp;motor_index)=0</td></tr>
<tr class="memdesc:a6917a158f12589c9ee6aa45304fdafce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setters.  <a href="#a6917a158f12589c9ee6aa45304fdafce">More...</a><br /></td></tr>
<tr class="separator:a6917a158f12589c9ee6aa45304fdafce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf3d3759b63a3ffe7e9cee360302f9b7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1LegInterface.html#aaf3d3759b63a3ffe7e9cee360302f9b7">send_if_input_changed</a> ()=0</td></tr>
<tr class="memdesc:aaf3d3759b63a3ffe7e9cee360302f9b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sender.  <a href="#aaf3d3759b63a3ffe7e9cee360302f9b7">More...</a><br /></td></tr>
<tr class="separator:aaf3d3759b63a3ffe7e9cee360302f9b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class defines an interface to control a leg. </p>
<p>This legg is composed of 2 motor, one for the hip and one for the knee. </p>
</div><h2 class="groupheader">Member Typedef Documentation</h2>
<a class="anchor" id="ac5af9e6514abff5ee918813925a8e42d"></a>
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<div class="memproto">
<div class="memtemplate">
template&lt;typename Type &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">using <a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">blmc_drivers::LegInterface::Ptr</a> =  std::shared_ptr&lt;Type&gt;</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>This is a shortcut for creating shared pointer in a simpler writting expression. </p>
<dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">Type</td><td>is the template paramer of the shared pointer. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a44bac5c9a6015f0e08370b3bc9957512"></a>
<div class="memitem">
<div class="memproto">
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        <tr>
          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a>&gt; blmc_drivers::LegInterface::get_current_target </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>motor_index</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the actual target current. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">motor_index</td><td>designate the motor from which we want the data from. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const ScalarTimeseries&gt; is the list of the lasts time stamped acquiered. </dd></dl>

<p>Implemented in <a class="el" href="classblmc__drivers_1_1Leg.html#af4428c8734c5b393df8072a14850d9b1">blmc_drivers::Leg</a>.</p>

</div>
</div>
<a class="anchor" id="ae653c7ee0ab7aa9d16a6bfce01580200"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a>&gt; blmc_drivers::LegInterface::get_motor_measurement </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>motor_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>measurement_index</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Getters. </p>
<p>Get the device output</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">motor_index</td><td>designate the motor from which we want the data from. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">measurement_index</td><td>is teh kind of data we are looking for. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const ScalarTimeseries&gt; is the list of the lasts time stamped acquiered. </dd></dl>

<p>Implemented in <a class="el" href="classblmc__drivers_1_1Leg.html#a585436aebc39562a5d1a486810b8b9ce">blmc_drivers::Leg</a>.</p>

</div>
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<a class="anchor" id="ab724283c8eeadca0e7b8829de64f4f44"></a>
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      <table class="memname">
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          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a>&gt; blmc_drivers::LegInterface::get_sent_current_target </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>motor_index</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the last sent target current. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">motor_index</td><td>designate the motor from which we want the data from. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const ScalarTimeseries&gt; is the list of the lasts time stamped acquiered. </dd></dl>

<p>Implemented in <a class="el" href="classblmc__drivers_1_1Leg.html#a353253074a39f566055121c2cb4adc6a">blmc_drivers::Leg</a>.</p>

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          <td class="memname">virtual void blmc_drivers::LegInterface::send_if_input_changed </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Sender. </p>
<p>Actually send the target current to the motor cards. </p>

<p>Implemented in <a class="el" href="classblmc__drivers_1_1Leg.html#a82bb681e4c5047babf699cff559e9488">blmc_drivers::Leg</a>.</p>

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          <td class="memname">virtual void blmc_drivers::LegInterface::set_current_target </td>
          <td>(</td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>current_target</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>motor_index</em>&#160;</td>
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          <td>)</td>
          <td></td><td></td>
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<p>Setters. </p>
<p>Set the current target saves internally the desired current. This data is not send to the motor yet. Please call send_if_input_changed in order to actually send the data to the card.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">current_target</td><td>is the current to achieve on the motor card. </td></tr>
    <tr><td class="paramname">motor_index</td><td>is the motor to control. </td></tr>
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<p>Implemented in <a class="el" href="classblmc__drivers_1_1Leg.html#a05415969ef111f86837b34bdaecb7320">blmc_drivers::Leg</a>.</p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/hardware/blmc_drivers/include/blmc_drivers/devices/<a class="el" href="leg_8hpp_source.html">leg.hpp</a></li>
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